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<div class="header">
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<div class="title">shot.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *   * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
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<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#ifndef PCL_SHOT_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#define PCL_SHOT_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2point__types_8h.html">pcl/point_types.h</a>&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/features/feature.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;{</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>RFT = pcl::ReferenceFrame&gt;</div>
<div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_h_o_t_estimation_base.html">   68</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html">SHOTEstimationBase</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_feature_from_normals.html">FeatureFromNormals</a>&lt;PointInT, PointNT, PointOutT&gt;,</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;                             <span class="keyword">public</span> <a class="code" href="classpcl_1_1_feature_with_local_reference_frames.html">FeatureWithLocalReferenceFrames</a>&lt;PointInT, PointRFT&gt;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  {</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;SHOTEstimationBase&lt;PointInT, PointNT, PointOutT, PointRFT&gt; &gt; Ptr;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;const SHOTEstimationBase&lt;PointInT, PointNT, PointOutT, PointRFT&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::feature_name_</a>;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::getClassName</a>;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::input_</a>;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::indices_</a>;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::k_</a>;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::search_parameter_</a>;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::search_radius_</a>;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::surface_</a>;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::fake_surface_</a>;</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature_from_normals.html">FeatureFromNormals&lt;PointInT, PointNT, PointOutT&gt;::normals_</a>;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature_with_local_reference_frames.html">FeatureWithLocalReferenceFrames&lt;PointInT, PointRFT&gt;::frames_</a>;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Feature&lt;PointInT, PointOutT&gt;::PointCloudIn</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudIn</a>;</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160; </div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00092"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_h_o_t_estimation_base.html#ae193a4c914c53f54a94a64d247704e82">   92</a></span>&#160;      <a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html#ae193a4c914c53f54a94a64d247704e82">SHOTEstimationBase</a> (<span class="keywordtype">int</span> nr_shape_bins = 10) :</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;        <a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html#add2fcf4e1897778b6565480a0c6369c4">nr_shape_bins_</a> (nr_shape_bins),</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;        <a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html#a28329c5272f722e4b0f4468a05641c3d">shot_</a> (), <a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html#ad017d623cbfe2678d051013c4a0b58c7">lrf_radius_</a> (0),</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;        <a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html#ac56b2ba94b26c225aeac4cf80f80b199">sqradius_</a> (0), <a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html#a7e43bc6b1b4e96d81ed88ae34a356789">radius3_4_</a> (0), <a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html#af46786da92530bf30442f9dcd96632f6">radius1_4_</a> (0), <a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html#a0faccdb3a164977cefcacb7b358b9de8">radius1_2_</a> (0),</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;        <a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html#a5ecd06eb23392b7a052c44d578aa3606">nr_grid_sector_</a> (32),</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;        <a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html#a52ea7faba790ff87e344cd02a0fedd7b">maxAngularSectors_</a> (32),</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;        <a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html#aac536ffb743acbb79e600a2b589a0696">descLength_</a> (0)</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;      {</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;        <a class="code" href="classpcl_1_1_feature.html#a54032b79551164878ff59ed93b5c1dc5">feature_name_</a> = <span class="stringliteral">&quot;SHOTEstimation&quot;</span>;</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;      };</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;      </div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160; </div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160; </div>
<div class="line"><a name="l00107"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_h_o_t_estimation_base.html#a25896bac3c690bc8ca2ce2a80d1a199e">  107</a></span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html#a25896bac3c690bc8ca2ce2a80d1a199e">~SHOTEstimationBase</a> () {}</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00116"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_h_o_t_estimation_base.html#a59a5d586d92994cb0366cfcf7587a3fd">  116</a></span>&#160;      <a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html#a59a5d586d92994cb0366cfcf7587a3fd">computePointSHOT</a> (<span class="keyword">const</span> <span class="keywordtype">int</span> index,</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;                        <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices,</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;                        <span class="keyword">const</span> std::vector&lt;float&gt; &amp;sqr_dists,</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;                        Eigen::VectorXf &amp;shot) = 0;</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160; </div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00123"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_h_o_t_estimation_base.html#ad88acfb7d17db95cd1c6b4c5fae5a892">  123</a></span>&#160;      <a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html#ad88acfb7d17db95cd1c6b4c5fae5a892">setLRFRadius</a> (<span class="keywordtype">float</span> radius) { <a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html#ad017d623cbfe2678d051013c4a0b58c7">lrf_radius_</a> = radius; }</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160; </div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00127"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_h_o_t_estimation_base.html#a439ff5903283237ccf92b1a09c349c9e">  127</a></span>&#160;      <a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html#a439ff5903283237ccf92b1a09c349c9e">getLRFRadius</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html#ad017d623cbfe2678d051013c4a0b58c7">lrf_radius_</a>; }</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160; </div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160; </div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;      <a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html#a5e9c4e5f19878d636ce2c6b28c636fd2">initCompute</a> ();</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160; </div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;      <a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html#aa83ce6c4529df2561a45f129354ef935">interpolateSingleChannel</a> (<span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices,</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;                                <span class="keyword">const</span> std::vector&lt;float&gt; &amp;sqr_dists,</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;                                <span class="keyword">const</span> <span class="keywordtype">int</span> index,</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;                                std::vector&lt;double&gt; &amp;binDistance,</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;                                <span class="keyword">const</span> <span class="keywordtype">int</span> nr_bins,</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;                                Eigen::VectorXf &amp;shot);</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160; </div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;      <a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html#a61daefe73f28310f3c97a561b905c2ef">normalizeHistogram</a> (Eigen::VectorXf &amp;shot, <span class="keywordtype">int</span> desc_length);</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160; </div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160; </div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;      <a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html#ae69b1265449ec2c727f54e4308d6178d">createBinDistanceShape</a> (<span class="keywordtype">int</span> index, <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices,</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;                              std::vector&lt;double&gt; &amp;bin_distance_shape);</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160; </div>
<div class="line"><a name="l00170"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_h_o_t_estimation_base.html#add2fcf4e1897778b6565480a0c6369c4">  170</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html#add2fcf4e1897778b6565480a0c6369c4">nr_shape_bins_</a>;</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160; </div>
<div class="line"><a name="l00173"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_h_o_t_estimation_base.html#a28329c5272f722e4b0f4468a05641c3d">  173</a></span>&#160;      Eigen::VectorXf <a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html#a28329c5272f722e4b0f4468a05641c3d">shot_</a>;</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160; </div>
<div class="line"><a name="l00176"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_h_o_t_estimation_base.html#ad017d623cbfe2678d051013c4a0b58c7">  176</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html#ad017d623cbfe2678d051013c4a0b58c7">lrf_radius_</a>;</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160; </div>
<div class="line"><a name="l00179"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_h_o_t_estimation_base.html#ac56b2ba94b26c225aeac4cf80f80b199">  179</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html#ac56b2ba94b26c225aeac4cf80f80b199">sqradius_</a>;</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160; </div>
<div class="line"><a name="l00182"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_h_o_t_estimation_base.html#a7e43bc6b1b4e96d81ed88ae34a356789">  182</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html#a7e43bc6b1b4e96d81ed88ae34a356789">radius3_4_</a>;</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160; </div>
<div class="line"><a name="l00185"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_h_o_t_estimation_base.html#af46786da92530bf30442f9dcd96632f6">  185</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html#af46786da92530bf30442f9dcd96632f6">radius1_4_</a>;</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160; </div>
<div class="line"><a name="l00188"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_h_o_t_estimation_base.html#a0faccdb3a164977cefcacb7b358b9de8">  188</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html#a0faccdb3a164977cefcacb7b358b9de8">radius1_2_</a>;</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160; </div>
<div class="line"><a name="l00191"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_h_o_t_estimation_base.html#a5ecd06eb23392b7a052c44d578aa3606">  191</a></span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html#a5ecd06eb23392b7a052c44d578aa3606">nr_grid_sector_</a>;</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160; </div>
<div class="line"><a name="l00194"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_h_o_t_estimation_base.html#a52ea7faba790ff87e344cd02a0fedd7b">  194</a></span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html#a52ea7faba790ff87e344cd02a0fedd7b">maxAngularSectors_</a>;</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160; </div>
<div class="line"><a name="l00197"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_h_o_t_estimation_base.html#aac536ffb743acbb79e600a2b589a0696">  197</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html#aac536ffb743acbb79e600a2b589a0696">descLength_</a>;</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;  };</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160; </div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT = pcl::SHOT352, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>RFT = pcl::ReferenceFrame&gt;</div>
<div class="line"><a name="l00220"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_h_o_t_estimation.html">  220</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_s_h_o_t_estimation.html">SHOTEstimation</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html">SHOTEstimationBase</a>&lt;PointInT, PointNT, PointOutT, PointRFT&gt;</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;  {</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;SHOTEstimation&lt;PointInT, PointNT, PointOutT, PointRFT&gt; &gt; Ptr;</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;const SHOTEstimation&lt;PointInT, PointNT, PointOutT, PointRFT&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html">SHOTEstimationBase&lt;PointInT, PointNT, PointOutT, PointRFT&gt;::feature_name_</a>;</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html">SHOTEstimationBase&lt;PointInT, PointNT, PointOutT, PointRFT&gt;::getClassName</a>;</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html">SHOTEstimationBase&lt;PointInT, PointNT, PointOutT, PointRFT&gt;::indices_</a>;</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html">SHOTEstimationBase&lt;PointInT, PointNT, PointOutT, PointRFT&gt;::k_</a>;</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html">SHOTEstimationBase&lt;PointInT, PointNT, PointOutT, PointRFT&gt;::search_parameter_</a>;</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html">SHOTEstimationBase&lt;PointInT, PointNT, PointOutT, PointRFT&gt;::search_radius_</a>;</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html">SHOTEstimationBase&lt;PointInT, PointNT, PointOutT, PointRFT&gt;::surface_</a>;</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html">SHOTEstimationBase&lt;PointInT, PointNT, PointOutT, PointRFT&gt;::input_</a>;</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html">SHOTEstimationBase&lt;PointInT, PointNT, PointOutT, PointRFT&gt;::normals_</a>;</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html">SHOTEstimationBase&lt;PointInT, PointNT, PointOutT, PointRFT&gt;::descLength_</a>;</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html">SHOTEstimationBase&lt;PointInT, PointNT, PointOutT, PointRFT&gt;::nr_grid_sector_</a>;</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html">SHOTEstimationBase&lt;PointInT, PointNT, PointOutT, PointRFT&gt;::nr_shape_bins_</a>;</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html">SHOTEstimationBase&lt;PointInT, PointNT, PointOutT, PointRFT&gt;::sqradius_</a>;</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html">SHOTEstimationBase&lt;PointInT, PointNT, PointOutT, PointRFT&gt;::radius3_4_</a>;</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html">SHOTEstimationBase&lt;PointInT, PointNT, PointOutT, PointRFT&gt;::radius1_4_</a>;</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html">SHOTEstimationBase&lt;PointInT, PointNT, PointOutT, PointRFT&gt;::radius1_2_</a>;</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html">SHOTEstimationBase&lt;PointInT, PointNT, PointOutT, PointRFT&gt;::maxAngularSectors_</a>;</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html">SHOTEstimationBase&lt;PointInT, PointNT, PointOutT, PointRFT&gt;::interpolateSingleChannel</a>;</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html">SHOTEstimationBase&lt;PointInT, PointNT, PointOutT, PointRFT&gt;::shot_</a>;</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature_with_local_reference_frames.html">FeatureWithLocalReferenceFrames&lt;PointInT, PointRFT&gt;::frames_</a>;</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160; </div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Feature&lt;PointInT, PointOutT&gt;::PointCloudIn</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudIn</a>;</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160; </div>
<div class="line"><a name="l00249"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_h_o_t_estimation.html#aaffdc155e538e0e76e75fd02b7f53293">  249</a></span>&#160;      <a class="code" href="classpcl_1_1_s_h_o_t_estimation.html#aaffdc155e538e0e76e75fd02b7f53293">SHOTEstimation</a> () : <a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html">SHOTEstimationBase</a>&lt;PointInT, PointNT, PointOutT, PointRFT&gt; (10)</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;      {</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;        <a class="code" href="classpcl_1_1_feature.html#a54032b79551164878ff59ed93b5c1dc5">feature_name_</a> = <span class="stringliteral">&quot;SHOTEstimation&quot;</span>;</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;      };</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;      </div>
<div class="line"><a name="l00255"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_h_o_t_estimation.html#af93916eaeb897e38a3607d100895dab6">  255</a></span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1_s_h_o_t_estimation.html#af93916eaeb897e38a3607d100895dab6">~SHOTEstimation</a> () {}</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160; </div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;      <a class="code" href="classpcl_1_1_s_h_o_t_estimation.html#ab203706a9af671e21552149fbc58bfdf">computePointSHOT</a> (<span class="keyword">const</span> <span class="keywordtype">int</span> index,</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;                        <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices,</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;                        <span class="keyword">const</span> std::vector&lt;float&gt; &amp;sqr_dists,</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;                        Eigen::VectorXf &amp;shot);</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;      <a class="code" href="classpcl_1_1_s_h_o_t_estimation.html#a0f63f9aa8314e493db68a5ed89ec44f8">computeFeature</a> (<a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointOutT&gt;</a> &amp;output);</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;  };</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160; </div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT = pcl::SHOT1344, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>RFT = pcl::ReferenceFrame&gt;</div>
<div class="line"><a name="l00298"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_h_o_t_color_estimation.html">  298</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_s_h_o_t_color_estimation.html">SHOTColorEstimation</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html">SHOTEstimationBase</a>&lt;PointInT, PointNT, PointOutT, PointRFT&gt;</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;  {</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;SHOTColorEstimation&lt;PointInT, PointNT, PointOutT, PointRFT&gt; &gt; Ptr;</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;const SHOTColorEstimation&lt;PointInT, PointNT, PointOutT, PointRFT&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html">SHOTEstimationBase&lt;PointInT, PointNT, PointOutT, PointRFT&gt;::feature_name_</a>;</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html">SHOTEstimationBase&lt;PointInT, PointNT, PointOutT, PointRFT&gt;::getClassName</a>;</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html">SHOTEstimationBase&lt;PointInT, PointNT, PointOutT, PointRFT&gt;::indices_</a>;</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html">SHOTEstimationBase&lt;PointInT, PointNT, PointOutT, PointRFT&gt;::k_</a>;</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html">SHOTEstimationBase&lt;PointInT, PointNT, PointOutT, PointRFT&gt;::search_parameter_</a>;</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html">SHOTEstimationBase&lt;PointInT, PointNT, PointOutT, PointRFT&gt;::search_radius_</a>;</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html">SHOTEstimationBase&lt;PointInT, PointNT, PointOutT, PointRFT&gt;::surface_</a>;</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html">SHOTEstimationBase&lt;PointInT, PointNT, PointOutT, PointRFT&gt;::input_</a>;</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html">SHOTEstimationBase&lt;PointInT, PointNT, PointOutT, PointRFT&gt;::normals_</a>;</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html">SHOTEstimationBase&lt;PointInT, PointNT, PointOutT, PointRFT&gt;::descLength_</a>;</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html">SHOTEstimationBase&lt;PointInT, PointNT, PointOutT, PointRFT&gt;::nr_grid_sector_</a>;</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html">SHOTEstimationBase&lt;PointInT, PointNT, PointOutT, PointRFT&gt;::nr_shape_bins_</a>;</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html">SHOTEstimationBase&lt;PointInT, PointNT, PointOutT, PointRFT&gt;::sqradius_</a>;</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html">SHOTEstimationBase&lt;PointInT, PointNT, PointOutT, PointRFT&gt;::radius3_4_</a>;</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html">SHOTEstimationBase&lt;PointInT, PointNT, PointOutT, PointRFT&gt;::radius1_4_</a>;</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html">SHOTEstimationBase&lt;PointInT, PointNT, PointOutT, PointRFT&gt;::radius1_2_</a>;</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html">SHOTEstimationBase&lt;PointInT, PointNT, PointOutT, PointRFT&gt;::maxAngularSectors_</a>;</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html">SHOTEstimationBase&lt;PointInT, PointNT, PointOutT, PointRFT&gt;::interpolateSingleChannel</a>;</div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html">SHOTEstimationBase&lt;PointInT, PointNT, PointOutT, PointRFT&gt;::shot_</a>;</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature_with_local_reference_frames.html">FeatureWithLocalReferenceFrames&lt;PointInT, PointRFT&gt;::frames_</a>;</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160; </div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Feature&lt;PointInT, PointOutT&gt;::PointCloudIn</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudIn</a>;</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160; </div>
<div class="line"><a name="l00330"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_h_o_t_color_estimation.html#a4d9cbcfa00574096931896ee7a53c891">  330</a></span>&#160;      <a class="code" href="classpcl_1_1_s_h_o_t_color_estimation.html#a4d9cbcfa00574096931896ee7a53c891">SHOTColorEstimation</a> (<span class="keywordtype">bool</span> describe_shape = <span class="keyword">true</span>,</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;                           <span class="keywordtype">bool</span> describe_color = <span class="keyword">true</span>)</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;        : <a class="code" href="classpcl_1_1_s_h_o_t_estimation_base.html">SHOTEstimationBase</a>&lt;PointInT, PointNT, PointOutT, PointRFT&gt; (10),</div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;          <a class="code" href="classpcl_1_1_s_h_o_t_color_estimation.html#a64507482849a76b6eab9e516bb3cbf06">b_describe_shape_</a> (describe_shape),</div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;          <a class="code" href="classpcl_1_1_s_h_o_t_color_estimation.html#a330ec389d580854e8364a2d0f73f7d5f">b_describe_color_</a> (describe_color),</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;          <a class="code" href="classpcl_1_1_s_h_o_t_color_estimation.html#a6fa8a4def7173ae71a69a332b52202eb">nr_color_bins_</a> (30)</div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;      {</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;        <a class="code" href="classpcl_1_1_feature.html#a54032b79551164878ff59ed93b5c1dc5">feature_name_</a> = <span class="stringliteral">&quot;SHOTColorEstimation&quot;</span>;</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;      };</div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;      </div>
<div class="line"><a name="l00341"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_h_o_t_color_estimation.html#a15933f4490258aa8e960452554c1176b">  341</a></span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1_s_h_o_t_color_estimation.html#a15933f4490258aa8e960452554c1176b">~SHOTColorEstimation</a> () {}</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160; </div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;      <a class="code" href="classpcl_1_1_s_h_o_t_color_estimation.html#aa2795a6b04586ac3b1a551a5b7b05aef">computePointSHOT</a> (<span class="keyword">const</span> <span class="keywordtype">int</span> index,</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;                        <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices,</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;                        <span class="keyword">const</span> std::vector&lt;float&gt; &amp;sqr_dists,</div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;                        Eigen::VectorXf &amp;shot);</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;      <a class="code" href="classpcl_1_1_s_h_o_t_color_estimation.html#a0bcbce40ea2c5ed9df98148e62261e49">computeFeature</a> (<a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointOutT&gt;</a> &amp;output);</div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160; </div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;      <a class="code" href="classpcl_1_1_s_h_o_t_color_estimation.html#a00c3aac15b5c3380c00af9d77503ee5b">interpolateDoubleChannel</a> (<span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices,</div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;                                <span class="keyword">const</span> std::vector&lt;float&gt; &amp;sqr_dists,</div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;                                <span class="keyword">const</span> <span class="keywordtype">int</span> index,</div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;                                std::vector&lt;double&gt; &amp;binDistanceShape,</div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;                                std::vector&lt;double&gt; &amp;binDistanceColor,</div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;                                <span class="keyword">const</span> <span class="keywordtype">int</span> nr_bins_shape,</div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;                                <span class="keyword">const</span> <span class="keywordtype">int</span> nr_bins_color,</div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;                                Eigen::VectorXf &amp;shot);</div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160; </div>
<div class="line"><a name="l00384"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_h_o_t_color_estimation.html#a64507482849a76b6eab9e516bb3cbf06">  384</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_s_h_o_t_color_estimation.html#a64507482849a76b6eab9e516bb3cbf06">b_describe_shape_</a>;</div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160; </div>
<div class="line"><a name="l00387"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_h_o_t_color_estimation.html#a330ec389d580854e8364a2d0f73f7d5f">  387</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_s_h_o_t_color_estimation.html#a330ec389d580854e8364a2d0f73f7d5f">b_describe_color_</a>;</div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160; </div>
<div class="line"><a name="l00390"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_h_o_t_color_estimation.html#a6fa8a4def7173ae71a69a332b52202eb">  390</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_s_h_o_t_color_estimation.html#a6fa8a4def7173ae71a69a332b52202eb">nr_color_bins_</a>;</div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160; </div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;      <span class="keyword">static</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;      <a class="code" href="classpcl_1_1_s_h_o_t_color_estimation.html#aaab0f015a6f8f926ef2695ba272b4f18">RGB2CIELAB</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> R, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> G, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> B, <span class="keywordtype">float</span> &amp;L, <span class="keywordtype">float</span> &amp;A, <span class="keywordtype">float</span> &amp;B2);</div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160; </div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;      <span class="keyword">static</span> <span class="keywordtype">float</span> sRGB_LUT[256];</div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;      <span class="keyword">static</span> <span class="keywordtype">float</span> sXYZ_LUT[4000];</div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;  };</div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;}</div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160; </div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;<span class="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;<span class="preprocessor">#include &lt;pcl/features/impl/shot.hpp&gt;</span></div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160; </div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">//#ifndef PCL_SHOT_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_feature_from_normals_html"><div class="ttname"><a href="classpcl_1_1_feature_from_normals.html">pcl::FeatureFromNormals</a></div><div class="ttdef"><b>Definition:</b> feature.h:311</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html"><div class="ttname"><a href="classpcl_1_1_feature.html">pcl::Feature</a></div><div class="ttdoc">Feature represents the base feature class. Some generic 3D operations that are applicable to all feat...</div><div class="ttdef"><b>Definition:</b> feature.h:106</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_a54032b79551164878ff59ed93b5c1dc5"><div class="ttname"><a href="classpcl_1_1_feature.html#a54032b79551164878ff59ed93b5c1dc5">pcl::Feature::feature_name_</a></div><div class="ttdeci">std::string feature_name_</div><div class="ttdoc">The feature name.</div><div class="ttdef"><b>Definition:</b> feature.h:222</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_with_local_reference_frames_html"><div class="ttname"><a href="classpcl_1_1_feature_with_local_reference_frames.html">pcl::FeatureWithLocalReferenceFrames</a></div><div class="ttdoc">FeatureWithLocalReferenceFrames provides a public interface for descriptor extractor classes which ne...</div><div class="ttdef"><b>Definition:</b> feature.h:448</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; PointInT &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1_s_h_o_t_color_estimation_html"><div class="ttname"><a href="classpcl_1_1_s_h_o_t_color_estimation.html">pcl::SHOTColorEstimation</a></div><div class="ttdoc">SHOTColorEstimation estimates the Signature of Histograms of OrienTations (SHOT) descriptor for a giv...</div><div class="ttdef"><b>Definition:</b> shot.h:299</div></div>
<div class="ttc" id="aclasspcl_1_1_s_h_o_t_color_estimation_html_a00c3aac15b5c3380c00af9d77503ee5b"><div class="ttname"><a href="classpcl_1_1_s_h_o_t_color_estimation.html#a00c3aac15b5c3380c00af9d77503ee5b">pcl::SHOTColorEstimation::interpolateDoubleChannel</a></div><div class="ttdeci">void interpolateDoubleChannel(const std::vector&lt; int &gt; &amp;indices, const std::vector&lt; float &gt; &amp;sqr_dists, const int index, std::vector&lt; double &gt; &amp;binDistanceShape, std::vector&lt; double &gt; &amp;binDistanceColor, const int nr_bins_shape, const int nr_bins_color, Eigen::VectorXf &amp;shot)</div><div class="ttdoc">Quadrilinear interpolation; used when color and shape descriptions are both activated</div><div class="ttdef"><b>Definition:</b> shot.hpp:430</div></div>
<div class="ttc" id="aclasspcl_1_1_s_h_o_t_color_estimation_html_a0bcbce40ea2c5ed9df98148e62261e49"><div class="ttname"><a href="classpcl_1_1_s_h_o_t_color_estimation.html#a0bcbce40ea2c5ed9df98148e62261e49">pcl::SHOTColorEstimation::computeFeature</a></div><div class="ttdeci">void computeFeature(pcl::PointCloud&lt; PointOutT &gt; &amp;output)</div><div class="ttdoc">Estimate the Signatures of Histograms of OrienTations (SHOT) descriptors at a set of points given by ...</div><div class="ttdef"><b>Definition:</b> shot.hpp:830</div></div>
<div class="ttc" id="aclasspcl_1_1_s_h_o_t_color_estimation_html_a15933f4490258aa8e960452554c1176b"><div class="ttname"><a href="classpcl_1_1_s_h_o_t_color_estimation.html#a15933f4490258aa8e960452554c1176b">pcl::SHOTColorEstimation::~SHOTColorEstimation</a></div><div class="ttdeci">virtual ~SHOTColorEstimation()</div><div class="ttdoc">Empty destructor</div><div class="ttdef"><b>Definition:</b> shot.h:341</div></div>
<div class="ttc" id="aclasspcl_1_1_s_h_o_t_color_estimation_html_a330ec389d580854e8364a2d0f73f7d5f"><div class="ttname"><a href="classpcl_1_1_s_h_o_t_color_estimation.html#a330ec389d580854e8364a2d0f73f7d5f">pcl::SHOTColorEstimation::b_describe_color_</a></div><div class="ttdeci">bool b_describe_color_</div><div class="ttdoc">Compute color descriptor.</div><div class="ttdef"><b>Definition:</b> shot.h:387</div></div>
<div class="ttc" id="aclasspcl_1_1_s_h_o_t_color_estimation_html_a4d9cbcfa00574096931896ee7a53c891"><div class="ttname"><a href="classpcl_1_1_s_h_o_t_color_estimation.html#a4d9cbcfa00574096931896ee7a53c891">pcl::SHOTColorEstimation::SHOTColorEstimation</a></div><div class="ttdeci">SHOTColorEstimation(bool describe_shape=true, bool describe_color=true)</div><div class="ttdoc">Empty constructor.</div><div class="ttdef"><b>Definition:</b> shot.h:330</div></div>
<div class="ttc" id="aclasspcl_1_1_s_h_o_t_color_estimation_html_a64507482849a76b6eab9e516bb3cbf06"><div class="ttname"><a href="classpcl_1_1_s_h_o_t_color_estimation.html#a64507482849a76b6eab9e516bb3cbf06">pcl::SHOTColorEstimation::b_describe_shape_</a></div><div class="ttdeci">bool b_describe_shape_</div><div class="ttdoc">Compute shape descriptor.</div><div class="ttdef"><b>Definition:</b> shot.h:384</div></div>
<div class="ttc" id="aclasspcl_1_1_s_h_o_t_color_estimation_html_a6fa8a4def7173ae71a69a332b52202eb"><div class="ttname"><a href="classpcl_1_1_s_h_o_t_color_estimation.html#a6fa8a4def7173ae71a69a332b52202eb">pcl::SHOTColorEstimation::nr_color_bins_</a></div><div class="ttdeci">int nr_color_bins_</div><div class="ttdoc">The number of bins in each color histogram.</div><div class="ttdef"><b>Definition:</b> shot.h:390</div></div>
<div class="ttc" id="aclasspcl_1_1_s_h_o_t_color_estimation_html_aa2795a6b04586ac3b1a551a5b7b05aef"><div class="ttname"><a href="classpcl_1_1_s_h_o_t_color_estimation.html#aa2795a6b04586ac3b1a551a5b7b05aef">pcl::SHOTColorEstimation::computePointSHOT</a></div><div class="ttdeci">virtual void computePointSHOT(const int index, const std::vector&lt; int &gt; &amp;indices, const std::vector&lt; float &gt; &amp;sqr_dists, Eigen::VectorXf &amp;shot)</div><div class="ttdoc">Estimate the SHOT descriptor for a given point based on its spatial neighborhood of 3D points with no...</div><div class="ttdef"><b>Definition:</b> shot.hpp:646</div></div>
<div class="ttc" id="aclasspcl_1_1_s_h_o_t_color_estimation_html_aaab0f015a6f8f926ef2695ba272b4f18"><div class="ttname"><a href="classpcl_1_1_s_h_o_t_color_estimation.html#aaab0f015a6f8f926ef2695ba272b4f18">pcl::SHOTColorEstimation::RGB2CIELAB</a></div><div class="ttdeci">static void RGB2CIELAB(unsigned char R, unsigned char G, unsigned char B, float &amp;L, float &amp;A, float &amp;B2)</div><div class="ttdoc">Converts RGB triplets to CIELab space.</div><div class="ttdef"><b>Definition:</b> shot.hpp:97</div></div>
<div class="ttc" id="aclasspcl_1_1_s_h_o_t_estimation_base_html"><div class="ttname"><a href="classpcl_1_1_s_h_o_t_estimation_base.html">pcl::SHOTEstimationBase</a></div><div class="ttdoc">SHOTEstimation estimates the Signature of Histograms of OrienTations (SHOT) descriptor for a given po...</div><div class="ttdef"><b>Definition:</b> shot.h:70</div></div>
<div class="ttc" id="aclasspcl_1_1_s_h_o_t_estimation_base_html_a0faccdb3a164977cefcacb7b358b9de8"><div class="ttname"><a href="classpcl_1_1_s_h_o_t_estimation_base.html#a0faccdb3a164977cefcacb7b358b9de8">pcl::SHOTEstimationBase::radius1_2_</a></div><div class="ttdeci">double radius1_2_</div><div class="ttdoc">1/2 of the search radius.</div><div class="ttdef"><b>Definition:</b> shot.h:188</div></div>
<div class="ttc" id="aclasspcl_1_1_s_h_o_t_estimation_base_html_a25896bac3c690bc8ca2ce2a80d1a199e"><div class="ttname"><a href="classpcl_1_1_s_h_o_t_estimation_base.html#a25896bac3c690bc8ca2ce2a80d1a199e">pcl::SHOTEstimationBase::~SHOTEstimationBase</a></div><div class="ttdeci">virtual ~SHOTEstimationBase()</div><div class="ttdoc">Empty destructor</div><div class="ttdef"><b>Definition:</b> shot.h:107</div></div>
<div class="ttc" id="aclasspcl_1_1_s_h_o_t_estimation_base_html_a28329c5272f722e4b0f4468a05641c3d"><div class="ttname"><a href="classpcl_1_1_s_h_o_t_estimation_base.html#a28329c5272f722e4b0f4468a05641c3d">pcl::SHOTEstimationBase::shot_</a></div><div class="ttdeci">Eigen::VectorXf shot_</div><div class="ttdoc">Placeholder for a point's SHOT.</div><div class="ttdef"><b>Definition:</b> shot.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_s_h_o_t_estimation_base_html_a439ff5903283237ccf92b1a09c349c9e"><div class="ttname"><a href="classpcl_1_1_s_h_o_t_estimation_base.html#a439ff5903283237ccf92b1a09c349c9e">pcl::SHOTEstimationBase::getLRFRadius</a></div><div class="ttdeci">virtual float getLRFRadius() const</div><div class="ttdoc">Get the radius used for local reference frame estimation</div><div class="ttdef"><b>Definition:</b> shot.h:127</div></div>
<div class="ttc" id="aclasspcl_1_1_s_h_o_t_estimation_base_html_a52ea7faba790ff87e344cd02a0fedd7b"><div class="ttname"><a href="classpcl_1_1_s_h_o_t_estimation_base.html#a52ea7faba790ff87e344cd02a0fedd7b">pcl::SHOTEstimationBase::maxAngularSectors_</a></div><div class="ttdeci">const int maxAngularSectors_</div><div class="ttdoc">...</div><div class="ttdef"><b>Definition:</b> shot.h:194</div></div>
<div class="ttc" id="aclasspcl_1_1_s_h_o_t_estimation_base_html_a59a5d586d92994cb0366cfcf7587a3fd"><div class="ttname"><a href="classpcl_1_1_s_h_o_t_estimation_base.html#a59a5d586d92994cb0366cfcf7587a3fd">pcl::SHOTEstimationBase::computePointSHOT</a></div><div class="ttdeci">virtual void computePointSHOT(const int index, const std::vector&lt; int &gt; &amp;indices, const std::vector&lt; float &gt; &amp;sqr_dists, Eigen::VectorXf &amp;shot)=0</div><div class="ttdoc">Estimate the SHOT descriptor for a given point based on its spatial neighborhood of 3D points with no...</div></div>
<div class="ttc" id="aclasspcl_1_1_s_h_o_t_estimation_base_html_a5e9c4e5f19878d636ce2c6b28c636fd2"><div class="ttname"><a href="classpcl_1_1_s_h_o_t_estimation_base.html#a5e9c4e5f19878d636ce2c6b28c636fd2">pcl::SHOTEstimationBase::initCompute</a></div><div class="ttdeci">virtual bool initCompute()</div><div class="ttdoc">This method should get called before starting the actual computation.</div><div class="ttdef"><b>Definition:</b> shot.hpp:158</div></div>
<div class="ttc" id="aclasspcl_1_1_s_h_o_t_estimation_base_html_a5ecd06eb23392b7a052c44d578aa3606"><div class="ttname"><a href="classpcl_1_1_s_h_o_t_estimation_base.html#a5ecd06eb23392b7a052c44d578aa3606">pcl::SHOTEstimationBase::nr_grid_sector_</a></div><div class="ttdeci">const int nr_grid_sector_</div><div class="ttdoc">Number of azimuthal sectors.</div><div class="ttdef"><b>Definition:</b> shot.h:191</div></div>
<div class="ttc" id="aclasspcl_1_1_s_h_o_t_estimation_base_html_a61daefe73f28310f3c97a561b905c2ef"><div class="ttname"><a href="classpcl_1_1_s_h_o_t_estimation_base.html#a61daefe73f28310f3c97a561b905c2ef">pcl::SHOTEstimationBase::normalizeHistogram</a></div><div class="ttdeci">void normalizeHistogram(Eigen::VectorXf &amp;shot, int desc_length)</div><div class="ttdoc">Normalize the SHOT histogram.</div><div class="ttdef"><b>Definition:</b> shot.hpp:238</div></div>
<div class="ttc" id="aclasspcl_1_1_s_h_o_t_estimation_base_html_a7e43bc6b1b4e96d81ed88ae34a356789"><div class="ttname"><a href="classpcl_1_1_s_h_o_t_estimation_base.html#a7e43bc6b1b4e96d81ed88ae34a356789">pcl::SHOTEstimationBase::radius3_4_</a></div><div class="ttdeci">double radius3_4_</div><div class="ttdoc">3/4 of the search radius.</div><div class="ttdef"><b>Definition:</b> shot.h:182</div></div>
<div class="ttc" id="aclasspcl_1_1_s_h_o_t_estimation_base_html_aa83ce6c4529df2561a45f129354ef935"><div class="ttname"><a href="classpcl_1_1_s_h_o_t_estimation_base.html#aa83ce6c4529df2561a45f129354ef935">pcl::SHOTEstimationBase::interpolateSingleChannel</a></div><div class="ttdeci">void interpolateSingleChannel(const std::vector&lt; int &gt; &amp;indices, const std::vector&lt; float &gt; &amp;sqr_dists, const int index, std::vector&lt; double &gt; &amp;binDistance, const int nr_bins, Eigen::VectorXf &amp;shot)</div><div class="ttdoc">Quadrilinear interpolation used when color and shape descriptions are NOT activated simultaneously</div><div class="ttdef"><b>Definition:</b> shot.hpp:255</div></div>
<div class="ttc" id="aclasspcl_1_1_s_h_o_t_estimation_base_html_aac536ffb743acbb79e600a2b589a0696"><div class="ttname"><a href="classpcl_1_1_s_h_o_t_estimation_base.html#aac536ffb743acbb79e600a2b589a0696">pcl::SHOTEstimationBase::descLength_</a></div><div class="ttdeci">int descLength_</div><div class="ttdoc">One SHOT length.</div><div class="ttdef"><b>Definition:</b> shot.h:197</div></div>
<div class="ttc" id="aclasspcl_1_1_s_h_o_t_estimation_base_html_ac56b2ba94b26c225aeac4cf80f80b199"><div class="ttname"><a href="classpcl_1_1_s_h_o_t_estimation_base.html#ac56b2ba94b26c225aeac4cf80f80b199">pcl::SHOTEstimationBase::sqradius_</a></div><div class="ttdeci">double sqradius_</div><div class="ttdoc">The squared search radius.</div><div class="ttdef"><b>Definition:</b> shot.h:179</div></div>
<div class="ttc" id="aclasspcl_1_1_s_h_o_t_estimation_base_html_ad017d623cbfe2678d051013c4a0b58c7"><div class="ttname"><a href="classpcl_1_1_s_h_o_t_estimation_base.html#ad017d623cbfe2678d051013c4a0b58c7">pcl::SHOTEstimationBase::lrf_radius_</a></div><div class="ttdeci">float lrf_radius_</div><div class="ttdoc">The radius used for the LRF computation</div><div class="ttdef"><b>Definition:</b> shot.h:176</div></div>
<div class="ttc" id="aclasspcl_1_1_s_h_o_t_estimation_base_html_ad88acfb7d17db95cd1c6b4c5fae5a892"><div class="ttname"><a href="classpcl_1_1_s_h_o_t_estimation_base.html#ad88acfb7d17db95cd1c6b4c5fae5a892">pcl::SHOTEstimationBase::setLRFRadius</a></div><div class="ttdeci">virtual void setLRFRadius(float radius)</div><div class="ttdoc">Set the radius used for local reference frame estimation if the frames are not set by the user</div><div class="ttdef"><b>Definition:</b> shot.h:123</div></div>
<div class="ttc" id="aclasspcl_1_1_s_h_o_t_estimation_base_html_add2fcf4e1897778b6565480a0c6369c4"><div class="ttname"><a href="classpcl_1_1_s_h_o_t_estimation_base.html#add2fcf4e1897778b6565480a0c6369c4">pcl::SHOTEstimationBase::nr_shape_bins_</a></div><div class="ttdeci">int nr_shape_bins_</div><div class="ttdoc">The number of bins in each shape histogram.</div><div class="ttdef"><b>Definition:</b> shot.h:170</div></div>
<div class="ttc" id="aclasspcl_1_1_s_h_o_t_estimation_base_html_ae193a4c914c53f54a94a64d247704e82"><div class="ttname"><a href="classpcl_1_1_s_h_o_t_estimation_base.html#ae193a4c914c53f54a94a64d247704e82">pcl::SHOTEstimationBase::SHOTEstimationBase</a></div><div class="ttdeci">SHOTEstimationBase(int nr_shape_bins=10)</div><div class="ttdoc">Empty constructor.</div><div class="ttdef"><b>Definition:</b> shot.h:92</div></div>
<div class="ttc" id="aclasspcl_1_1_s_h_o_t_estimation_base_html_ae69b1265449ec2c727f54e4308d6178d"><div class="ttname"><a href="classpcl_1_1_s_h_o_t_estimation_base.html#ae69b1265449ec2c727f54e4308d6178d">pcl::SHOTEstimationBase::createBinDistanceShape</a></div><div class="ttdeci">void createBinDistanceShape(int index, const std::vector&lt; int &gt; &amp;indices, std::vector&lt; double &gt; &amp;bin_distance_shape)</div><div class="ttdoc">Create a binned distance shape histogram</div><div class="ttdef"><b>Definition:</b> shot.hpp:194</div></div>
<div class="ttc" id="aclasspcl_1_1_s_h_o_t_estimation_base_html_af46786da92530bf30442f9dcd96632f6"><div class="ttname"><a href="classpcl_1_1_s_h_o_t_estimation_base.html#af46786da92530bf30442f9dcd96632f6">pcl::SHOTEstimationBase::radius1_4_</a></div><div class="ttdeci">double radius1_4_</div><div class="ttdoc">1/4 of the search radius.</div><div class="ttdef"><b>Definition:</b> shot.h:185</div></div>
<div class="ttc" id="aclasspcl_1_1_s_h_o_t_estimation_html"><div class="ttname"><a href="classpcl_1_1_s_h_o_t_estimation.html">pcl::SHOTEstimation</a></div><div class="ttdoc">SHOTEstimation estimates the Signature of Histograms of OrienTations (SHOT) descriptor for a given po...</div><div class="ttdef"><b>Definition:</b> shot.h:221</div></div>
<div class="ttc" id="aclasspcl_1_1_s_h_o_t_estimation_html_a0f63f9aa8314e493db68a5ed89ec44f8"><div class="ttname"><a href="classpcl_1_1_s_h_o_t_estimation.html#a0f63f9aa8314e493db68a5ed89ec44f8">pcl::SHOTEstimation::computeFeature</a></div><div class="ttdeci">void computeFeature(pcl::PointCloud&lt; PointOutT &gt; &amp;output)</div><div class="ttdoc">Estimate the Signatures of Histograms of OrienTations (SHOT) descriptors at a set of points given by ...</div><div class="ttdef"><b>Definition:</b> shot.hpp:764</div></div>
<div class="ttc" id="aclasspcl_1_1_s_h_o_t_estimation_html_aaffdc155e538e0e76e75fd02b7f53293"><div class="ttname"><a href="classpcl_1_1_s_h_o_t_estimation.html#aaffdc155e538e0e76e75fd02b7f53293">pcl::SHOTEstimation::SHOTEstimation</a></div><div class="ttdeci">SHOTEstimation()</div><div class="ttdoc">Empty constructor.</div><div class="ttdef"><b>Definition:</b> shot.h:249</div></div>
<div class="ttc" id="aclasspcl_1_1_s_h_o_t_estimation_html_ab203706a9af671e21552149fbc58bfdf"><div class="ttname"><a href="classpcl_1_1_s_h_o_t_estimation.html#ab203706a9af671e21552149fbc58bfdf">pcl::SHOTEstimation::computePointSHOT</a></div><div class="ttdeci">virtual void computePointSHOT(const int index, const std::vector&lt; int &gt; &amp;indices, const std::vector&lt; float &gt; &amp;sqr_dists, Eigen::VectorXf &amp;shot)</div><div class="ttdoc">Estimate the SHOT descriptor for a given point based on its spatial neighborhood of 3D points with no...</div><div class="ttdef"><b>Definition:</b> shot.hpp:734</div></div>
<div class="ttc" id="aclasspcl_1_1_s_h_o_t_estimation_html_af93916eaeb897e38a3607d100895dab6"><div class="ttname"><a href="classpcl_1_1_s_h_o_t_estimation.html#af93916eaeb897e38a3607d100895dab6">pcl::SHOTEstimation::~SHOTEstimation</a></div><div class="ttdeci">virtual ~SHOTEstimation()</div><div class="ttdoc">Empty destructor</div><div class="ttdef"><b>Definition:</b> shot.h:255</div></div>
<div class="ttc" id="acommon_2include_2pcl_2point__types_8h_html"><div class="ttname"><a href="common_2include_2pcl_2point__types_8h.html">point_types.h</a></div></div>
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